NDLI: Behaviors for Physical Cooperation Between Robots for Mobility Improvement: Hardware Results and Use of Dynamics

Content Provider	IEEE Xplore Digital Library
Author	Deshpande, A. Luntz, J.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. Eng., Michigan Univ., Ann Arbor, MI (Deshpande, A.; Luntz, J.)
Abstract	A team of small, low-cost robots instead of a single large, complex robot is useful in operations such as search and rescue, urban exploration etc. However, the performance of such a team is limited due to the restricted mobility of the team members. This paper presents the results obtained toward the goal of enhancing mobility of a team of mobile robots by physical cooperation among the robots with the focus on the development of the low level system components. Recognizing that small robots need to overcome discrete obstacles, we develop specific analytical maneuvers to negotiate each obstacle where a maneuver is built from a sequence of fundamental cooperative behaviors. We have developed a 2-robot hardware system based on our idea of cooperative mobility improvement and guided by the results from the static analysis. We have demonstrated the implementation of basic cooperative behaviors, such as cooperative lift, and by implementing the decentralized control architecture we have demonstrated gap crossing maneuver with the hardware. We have analytically proved that robot dynamics can be used to reduce the friction requirements in the lift behavior and have demonstrated, with simulations, implementation of this idea for the cooperative lifting behavior
Starting Page	2212
Ending Page	2218
File Size	1153608
Page Count	7
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282563
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Hardware Intelligent robots Distributed control Orbital robotics Space technology Switches Mechanical engineering USA Councils Vehicle dynamics
Content Type	Text
Resource Type	Article

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